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Proportional region can become dissociated from setpoint when PB changed dynamically #10
With Td = 0, if the Proportional band is changed dynamically via a message passed in it is possible for the previous value of the integral term to push the proportional band away from the setpoint so that, for example, a process value less than the setpoint can result in zero output. This should only be able to happen under derivative action, with Td=0 it should not be possible.